1. CS Team: ECE Team: Reckoning IEEE Region V Robotics Competition Cody Mass, Jared Saul David Ameh, Lance Martin, Nick Schlag CS 425 Senior Project Design, Fall 2009 1

2. Client & Competition We’re going to Disneyland Texas! 2 Gaylord Texan Resort and Convention Center, Grapevine, TX

3. Our Goal Toxic waste Nuclear fuel rod disposal is totally our area of expertise (...right?) “…The task this year is to construct a land-based robot which can autonomously transport expended nuclear fuel rods from a central location to remote processing areas. Due to the high risk of human exposure or environmental damage, it is desirable to transport spent fuel rods from the power plant to remote processing locations via autonomous unmanned transport.... Each team must design and build an autonomous robot that can detect and transport containers from 4 central locations to the assigned square areas in the corners of the course. The robot must deliver the rods from 4 central locations to their specified delivery areas in any order.” 3

4. Our Goal Wait...there are rules? Course: –8’ x 8’ Field –Randomly-placed obstacles (final round only) Cargo containers: –Copper fuel rods (see diagram) Robot: –1’ L x 1’ W x 2’ H –Weighs less than 50 lbs. The competition: –1 minute to prepare the robot –4 minutes to perform the task 4

5. Timeline In addition, May 2010: Victory celebration 5 Blue: Yellow: Green: Implementation Testing and modification Refinement

6. Hardware Components Float like a butterfly, sting like a $135 robot 6

7. Hardware Components Nuclear fuel rods: Handle with care 7

8. Light Sensor Hardware Components Everything but the kitchen sink Gumstix PSoC Laser Line Sensor ArmWheels 8

9. Hardware Components When we say “move”, the ECE team says “How far?” The Gumstix (microcontroller) will send a movement request to the PSoC (created by the ECE team) The PSoC will then perform the low-level motor/sensor commands: –Move wheels forward/backward –Rotate (move one wheel forward, one backward) –Full stop –Open/close/move robotic arm –Get light frequency sensor data 9 Light Sensor PSoC ArmWheels

10. Hardware Components Turns out a “Gumstix” isn’t a candy bar Overo Fire Gumstix: –600 MHz, 256MB RAM, 256MB Flash –Includes 802.11(g) and Bluetooth Summit expansion board: –USB OTG mini-AB, USB host mini-A, DVI-D (HDMI), USB Serial Console, Audio in/out, many other ports and lines (including I 2 C) for the PSoC 10 Gumstix Laser Line Sensor

11. Hardware Components And if there’s still room left over, maybe a coffee machine, too... Webcam – No longer needed! Laser: –High-quality proximity detection at various angles—can even determine orientation –Used for locating fuel rods and/or obstacles Line Sensor: –Following the painted black lines on the course would really help localization 11 Gumstix Laser Line Sensor

12. Inter-Integrated Circuit …otherwise known as I 2 C 12 Gumstix PSoC Provides serial connection between Gumstix and PSoC Each device connected to the bus has a unique address No strict baud rate requirements // Sample Driver command // tell the driver we want the device at // address 0x20 fh = open("/dev/i2c-3", O_RDWR); ioctl(fh, I2C_SLAVE, 0x20)

13. The Users …of an autonomous robot? There’s really only one type: us! –Creators –Designers –Coders –Operators Since the robot must be autonomous, there is no “end user” 13

14. Development Environment Because programming in assembly would simply take too long Operating system: –Angstrom Linux Programming language: –C–C –C++ Libraries: –OpenCV no longer needed, but standard C/C++ libraries, of course Getting the code there: –Wireless subversion –Bluetooth –Serial connection (laptop  Gumstix) 14

15. Software Design robot.winCompetition(true); 15 Primary choice for localization: Dead reckoning Possible additional algorithms: Scan feature, seeing beacons PSoC Command Set Parameters: –moveStraight(float distance, float speed) –A negative distance signifies moving straight backwards –Speed is a percentage of the robot’s top speed, from 1 to 100 –rotate(float degrees, float speed) –Positive degrees makes a clockwise turn, and negative degrees makes a counter-clockwise turn –stop() –moveCustom(float leftSpeed, float rightSpeed, float time) –Time is the number of seconds to run

16. State Diagram That doesn’t look anything like Illinois…or Texas!! 16

17. Gumstix Demo Reckoning IEEE Region V Robotics Competition 17

18. Questions?? Reckoning IEEE Region V Robotics Competition 18